Quick release coupler

ABSTRACT

A coupling device is described herein having a body situated between a mounting member and a receiving member. The mounting member mounts to a portion of a machine and the receiving member receives a tool to couple the tool to the machine. The body includes a housing having a locking pin disposed therein. The locking pin includes a plurality of teeth radially positioned about an outer surface of the locking pin. A plurality of pawls disposed in the body engage with the plurality of teeth to lock a rotational position of the locking pin. A lever connected to the locking pin allows a user to rotate the locking pin. Upon rotation of the lever, components in the body cause the locking pin to rotate and translate towards the tool to impose a force on a portion of the tool to rigidly connect the tool to the machine.

RELATED APPLICATIONS

This application claims priority benefit of U.S. Provisional ApplicationSer. No. 62/433,373 filed Dec. 13, 2016; the contents of which arehereby incorporated by reference.

TECHNICAL FIELD

The present invention in general relates to the field of mechanicalcouplers for connecting tools to a machine, and more specifically to aquick-release mechanical coupler for connecting tools to a surgicalrobot.

BACKGROUND

Couplers, or couplings, are commonly used to connect tools to machines.In some instances, couplers are configured with a quick releasemechanism to rapidly release and connect tools to a machine, and arereferred to as a quick-release coupler. A quick-release coupler isespecially useful in situations where several tools are needed toconnect to a single machine to perform a given task, or where the timefor completing a given task is a matter of interest. These situationsare often encountered in the field of surgical robotics where one ormore tools need to be connected to the end of a robotic arm.

Due to the strict safety and accuracy requirements to perform roboticsurgery, any coupler used during the procedure must meet severalrequirements. For one, the tools need to rigidly connect to the surgicalrobot such that there is minimal deflection between the tool and therobot. Often, a calibration step is performed prior to executing theprocedure to identify the position and orientation of the tool tip, orworking portion of the tool, in a coordinate frame of the robot. If thetool deflects after this calibration step, then the accuracy of theprocedure is compromised. Second, the coupler connection needs towithstand the forces generated between the tool and the workpiece aswell as any vibrational motion the robot may generate during theprocedure. Like before, maintaining the rigidity between the tool andthe robot is critical.

In addition, a surgical setting has sterility requirements where all ofthe components that directly interact with a patient must be sterile.Some quick-release couplers contain several small moving parts to firmlygrasp the tool, which may be difficult to fully sterilize. A steriledrape may cover and shield the quick-release coupler from the patient,however the drape may inadvertently interact with any of the levers onthe coupler used to connect and release the tool with the robotic arm.

Finally, the quick-release coupler has to account for the manufacturingtolerances between the coupler and the tool connection interface. Morespecifically, each tool has an attachment member that connects with thecoupler. The attachment member for each tool may have a slightlydifferent size, shape, or geometry due to the designated manufacturingtolerance (e.g., +/−0.5 mm). Therefore, the coupler design shouldaccommodate for the minor variances in shape, size, or geometry fromtool to tool due to the manufacturing tolerances, such that the rigiditybetween the robot and the different tools is maintained.

Thus, there exists a need for a quick-release coupler capable ofconnecting several types of tools to a robot and to maintain therigidity between the tool and the robot during a surgical procedure.

SUMMARY

A coupling device is provided herein. The coupling device includes abody having a mounting member and a receiving member. The mountingmember is attached to the body with a first set of fastening elements.The receiving member is attached to an opposing side of the body with asecond set of fastening elements. The mounting member is adapted toconnect to a portion of a machine and the receiving member is adapted toremovably join and suspend one or more different tools. The portion ofthe machine may include a distal link of a manipulator arm of a robot.The receiving member further includes a conduit and a support where saidconduit provides a link for a locking pin to intercept a portion of saidtool. The support may be a sliding joint that is tapered with where anopening of said sliding joint has a larger cross-section than a stopperportion of said joint. The stopper portion provides an abutment surfacefor a corresponding mating feature of said tool to push against torigidly secure said tool to said coupler. The corresponding matingfeature may be a wedged attachment that slides onto said receivingmember. The wedged attachment further includes an interactioncounterbore bored through a top side of a portion of said wedgedattachment. A wall in the interaction counterbore interacts with thelocking pin such that when the locking pin is engaged the locking pinimposes a lateral force on the wall to rigidly secure the tool againstthe support of the coupler.

The body of the coupling device may further include a housing, a lockingpin, a lever, a lid, one or more pawls, one or more pawl springs, a pawlrelease, a release button, a release lever, a biasing spring, one ormore translation pins, a set screw, and fastening elements. The housinghas a housing counterbore to hold the locking pin therein and a slotextending laterally from the housing counterbore through a portion ofthe housing. The lever fits within the slot and has an attachment endthat inserts into a corresponding aperture in a shaft portion of thelocking pin. The lever is used to rotate said locking pin within thecounterbore to engage the tool.

A process of using the coupling device is provided including attaching atool to said coupling device.

A system is also provided including a robot with a manipulator armjoined to the coupling device for removably joining a set of tools.

BRIEF DESCRIPTION OF THE DRAWINGS

The present invention is further detailed with respect to the followingdrawings that are intended to show certain aspects of the present ofinvention, but should not be construed as a limit on the practice of theinvention, wherein:

FIG. 1 depicts a robotic system having a coupler and a tool attachedthereto in accordance with embodiments of the invention;

FIGS. 2A and 2B depict a coupler for connecting a tool to a machine,where FIG. 2A shows the coupler in an assembled state, and FIG. 2B showsan exploded view thereof in accordance with embodiments of theinvention;

FIGS. 3A-3C depict a mounting member of the coupler of FIGS. 2A and 2Bthat connects with a machine, where FIG. 3A is a perspective view of themounting member, FIG. 3B is a top view thereof, and FIG. 3C is a sideview thereof in accordance with embodiments of the invention;

FIGS. 4A-4D depict a receiving member of the coupler of FIGS. 2A and 2Bthat receives a tool, where FIG. 4A is a perspective top view of thereceiving member, FIG. 4B is a front view thereof, FIG. 4C is aperspective bottom view thereof, and FIG. 4D is a bottom view thereof;

FIGS. 5A-5D depict an attachment region and a tool for attaching withthe receiving member of FIGS. 4A-4D, where FIG. 5A is a perspective viewof the attachment region, FIG. 5B is a top view thereof, FIG. 5C is afront cross-sectional view thereof, and FIG. 5D is the attachment regionassembled with a tool, in accordance with embodiments of the invention;

FIG. 6 is an exploded view of the body of the coupler of FIGS. 2A and 2Bin accordance with embodiments of the invention;

FIGS. 7A-7E depict detailed perspective views of the locking pin shownin FIG. 6 that secures a tool to the coupler, where FIG. 7A is aperspective view of the locking pin, FIG. 7B is first rotationalposition thereof, FIG. 7C is a second rotational position thereof, FIG.7D is a top view thereof, and FIG. 7E is a cross-section view thereof,in accordance with embodiments of the invention;

FIGS. 8A-8D depict detailed perspective views of the lid shown in FIG. 6of the coupler that facilitates a translational motion of the lockingpin, where FIG. 8A is a top view of the lid, FIG. 8B is side viewthereof, FIG. 8C is bottom view thereof, and FIG. 8D is across-sectional view thereof in accordance with embodiments of theinvention;

FIG. 9 depicts a detailed perspective view of the translational pinshown in FIG. 6 that interacts with the lid in accordance withembodiments of the invention;

FIG. 10 depicts a detailed perspective view of the pawl release shown inFIG. 6 that facilitates the release of a pawl from the locking pin inaccordance with embodiments of the invention;

FIG. 11 depicts a detailed perspective view of the pawl shown in FIG. 6that engages the locking pin in accordance with embodiments of theinvention;

FIG. 12 depicts a detailed perspective view of the pawl spring shown inFIG. 6 that interacts with the pawl in accordance with embodiments ofthe invention;

FIGS. 13A-13B are top down views of the pawl release mechanism of FIG.10, where FIG. 13A shows the pawl release mechanism in an engagedposition and FIG. 13B is in a disengaged position in accordance withembodiments of the invention;

FIGS. 14A-14B depict a bottom surface of the coupler body for assemblingthe pawl release mechanism, where FIG. 14A is the bottom surface havingno pawl release components and FIG. 14B is the assembled pawls andsprings with the body in accordance with embodiments of the invention;and

FIGS. 15A-15B depict a cross-sectional view of the assembled coupler ofFIG. 2A, where FIG. 15A is the coupler in a disengaged position and FIG.15B is the coupler in an engaged position in accordance with embodimentsof the invention.

DETAILED DESCRIPTION

The present invention has utility as a mechanical coupler to quickly andrigidly connect a tool to a machine. The mechanical coupler isespecially advantageous in a surgical setting where time is of theessence and where a single machine operates different tools at differenttime points to perform a single procedure. Further, the mechanicalcoupler is capable of connecting tools having small geometric deviationsin their attachment regions, while still providing a rigid connectionbetween the machine and the tool.

The following description of the various embodiments of the invention isnot intended to limit the invention to these specific embodiments, butrather to enable any person skilled in the art to make and use theinvention through exemplary aspects thereof. In particular, thefollowing description provides examples related to a coupler forconnecting a tool to a surgical robot; however, it should be appreciatedthat the embodiments described herein are readily adapted for use in amyriad of applications where it is desirous to connect two or moreobjects.

It is to be understood that in instances where a range of values areprovided that the range is intended to encompass not only the end pointvalues of the range, but also intermediate values of the range asexplicitly included within the range and varying by the last significantfigure of the range. By way of example, a recited range from 1 to 4 isintended to include 1-2, 1-3, 2-3, 2-4, 3-4, and 1-4.

Referring now to the figures, FIG. 1 illustrates a robotic system 100including a robot base 106, a manipulator arm 108 mounted the base 106having a distal link 110, a mechanical coupler 200 connected to thedistal link 110, and a tool 300 attached to the coupler 200. FIG. 1 isprovided for context as a potential application for the use of themechanical coupler 200 described herein. In particular, the roboticsystem 100 may perform orthopedic procedures such as total kneearthroplasty (TKA) and total hip arthroplasty (THA) where severaldifferent tools are used by the robotic system during the course of asingle procedure. One specific example is the reaming of the acetabularcup during THA where several reamers are exchanged on the robotic arm108 to prepare the acetabulum to receive a prosthetic cup. Examples ofsuch robotic systems are described in U.S. Pat. Nos. 5,086,401,6,102,850 and 7,206,626, which are incorporated by reference herein intheir entirety.

With reference to FIGS. 2A and 2B, the mechanical coupler 200 is shown,where FIG. 2A is a perspective view of the coupler 200 and FIG. 2B is anexploded view thereof. The coupler 200 includes a body 202 having amounting member 204 and a receiving member 206. The mounting member 204is assembled to the body 202 with a first set of fastening elements 212,while the receiving member 206 is assembled to an opposing side of thebody 202 with a second set of fastening elements 214. The fasteningelements (212, 214) shown here are screws, however other fasteningelements may be used such as clamps, rivets, screw caps, and equivalentsthereof.

With reference to FIGS. 3A-3C, the mounting member 204 is shown detail,where FIG. 3A is a perspective view of the mounting member 204, FIG. 3Bis a top view thereof, and FIG. 3C is a side view thereof. The mountingmember 204 is adapted to connect to a portion of a machine, such as thedistal link 110 of the manipulator arm 108. In a particular embodiment,the mounting member 204 has an annular base 220 and a cylindrical top216 with a hyperboloid neck 222 therebetween. The top 216 and neck 222having diameters less than the annular base 220 for inserting inside alocking mechanism (not shown) associated with the machine. One or morealignment slots 218 may be formed around the edge of the cylindrical top216 to mate with one or more corresponding projections associated withthe locking mechanism of the machine. The alignment slots 218 ensure thecoupler 200 may be repeatedly connected to the machine in a desiredorientation. The neck 222 may be securely grasped by a set ofretractable ball bearings associated with the machine locking mechanismto rigidly fix the coupler 200 to the machine. In addition, the annularbase 220 may further include a set of screw holes 226 to receive the setof fastening elements 212 to assemble the mounting member 204 with thebody 202.

In other embodiments, the mounting member 204 may have alternativemechanisms known in the art for connecting the coupler 200 to themachine. For example, the mounting member 204 may have a shaft withthreads that screw into a portion of the machine, a clamping mechanism,or equivalents thereof to maintain a rigid relationship between themachine and the mounting member 204.

With reference to FIGS. 4A-4D the receiving member 206 of the body 202is shown in detail, where FIG. 4A is a top perspective view of thereceiving member 206, FIG. 4B is front view thereof, FIG. 4C is a bottomperspective view thereof, and FIG. 4D is a bottom view thereof. Thereceiving member 206 is adapted to removably join and suspend the tool300 to the coupler 200. In a particular embodiment, the receiving member206 has a conduit 228 and a support 230. The conduit 228 provides a linkfor a locking pin 236 (shown in FIG. 6) to intercept a portion of thetool 300 as described below. The support 230 is adapted to mate with thetool 300. In a specific embodiment, the support 230 is a sliding joint(e.g., “stopped” sliding dovetail joint) that mates with a correspondingmating feature on the tool 300. The sliding joint may be tapered wherean opening 231 of the joint has a larger cross-section than the“stopped” portion 232 of the joint. The “stopped” portion 232 mayprovide an abutment surface for the corresponding mating feature on thetool to push against to rigidly secure the tool 300 to the coupler 200as further described below. It should be appreciated, that the “stopped”portion 232 refers to any portion of the joint that extends away fromthe opening 231 where the corresponding mating feature on the tool 300may push against any region of the “stopped” portion 232 (e.g., the sidewalls of the dovetail joint may act as the abutment surface, where themating feature may push against the side walls of the dovetail jointwithout contacting a region of the “stopped” portion 232 furthest fromthe opening 231). In other embodiments, the support 230 may be a simplelip or slot that the tool 300 can mate with or slide onto for removablyjoining and suspending the tool 300.

With reference to FIGS. 5A-5D, a tool 300 having a wedged attachmentregion 302 is shown in detail, where FIG. 5A is a perspective view ofthe attachment region 302, FIG. 5B is a top view of thereof, FIG. 5C iscross-sectional view thereof along line 310 of FIG. 5B, and FIG. 5Ddepicts the tool 300 having the attachment region 302. The attachmentregion 302 is adapted to mate and/or slide onto the receiving member206. In a specific embodiment the attachment region 302 has a topsurface 303, a bottom surface 305, and wedged angled features 308therebetween that slide onto the support 230 (i.e., the dovetail joint).The attachment region 302 further includes a locking pin interactionfeature 304. In a particular embodiment, the interaction feature 304 isin the form of a counterbore bored through a portion of the attachmentregion 302 leaving a counterbore interaction wall 307 and an interactionsurface face 306 situated between the top surface 303 and the bottomsurface 305. A locking pin 236 (shown in FIG. 6) engages the interactionfeature 304 as further described below. The wedge-shaped attachmentregion 302 further includes fastening holes 310 for fastening elementsto attach the attachment region 302 with the tool 300. In a specificembodiment, the tool 300 as shown in FIG. 5D is a powered cutter havinga cutter tip 312 driven by a motor 314. However, it should beappreciated that the attachment region 302 may be assembled with anytype of tool including but not limited to a reamer, a burr, anelectrocautery device, a probe, an endoscope, a drill, a prostheticimplant, or any other instrument that interacts with a user, aworkpiece, a subject, or the environment.

With reference to FIG. 6, the body 202 of the coupler 200 is shown in anexploded view. The body 202 is configured to permit a user to engage anddisengage a locking pin 236 with the interaction feature 304. When theuser engages the locking pin 236, a portion of the locking pin 236imposes a lateral force on the interaction feature 304 to rigidly securethe tool 300 against the support 230 of the coupler 200. In particular,the locking pin 236 imposes a lateral force on the interaction wall 307to securely “wedge” and draw the attachment region 302 into the support230 (i.e., wedged sliding joint). In a specific embodiment, the body 202includes a housing 234, the locking pin 236, a lever 237, a lid 238, oneor more pawls 240, one or more pawl springs 242, a pawl release 244, arelease button 246, a release lever 248, a biasing spring 250, one ormore translation pins 252, a set screw 253, and fastening elements 254.The housing 234 has a counterbore 256 to hold the locking pin 236therein and a slot 258 extending laterally from the counterbore 256through a portion of the housing 234. The lever 237 fits within the slot258 and has an attachment end 262 that inserts into a correspondingaperture 260 in the shaft of the locking pin 236. The lever 237 allowsthe user to rotate the locking pin 236 within the counterbore 256. Thelid 238 has features that cause the locking pin 236 to translate withinthe counterbore 256 as the locking pin 236 rotates to engage the tool300.

With reference to FIGS. 7A-7E, the locking pin 236 is shown in detail,where FIG. 7A is a perspective view of the locking pin 236, FIG. 7Bshows the locking pin 236 in a disengaged position, FIG. 7C shows thelocking pin in an engaged position, FIG. 7D is a top view thereof, andFIG. 7E is a cross-section thereof along line 271 of FIG. 7D. In aparticular embodiment, the locking pin 236 is a shaft 263 having a pinhead 264 at a proximal end of the shaft 263, an aperture 260 forreceiving the lever 237, a plurality of teeth 266 radially positioned onan outer surface of the shaft 263, and an eccentric cam 268 at a distalend of the shaft 236. The eccentric cam 268 is offset from the centeraxis 270 of the shaft 263 which applies a lateral force against the wall307 of the attachment region 302 when the locking pin 236 is engaged.This can be viewed between FIGS. 7B and 7C, where FIG. 7B illustratesthe locking pin 236 rotated in a disengaged position and FIG. 7Cillustrates the locking pin 236 rotated in an engaged position. Theplurality of teeth 266 engage with one or more pawls 240 toincrementally lock the rotational position of the locking pin 236 as thelocking pin 236 is rotated. The plurality of teeth 266 may bemanufactured as a part of the locking pin 236, as a sprocket, or aremovable set of teeth may be attached thereto. The locking pin 236further include translation pins 252 projecting from the pin head 264and a channel 274 where the set screw 253 (as shown in FIG. 6) isinserted and screwed against the attachment end 262 of the lever 237 tosecure the lever 237 to the locking pin 236.

With reference to FIGS. 8A-8D, the lid 238 is shown in detail, whereFIG. 8A is a top view of the lid 238, FIG. 8B is a side view thereof,FIG. 8C is a bottom view thereof, and FIG. 8D is a cross-section thereofthrough line 280 of FIG. 8C. The lid 238 is configured to cause thelocking pin 236 to translate as the locking pin 236 is rotated. In aparticular embodiment, the lid 238 has a top portion 276, and a bottomportion 277. The bottom portion 277 has a cylindrical shape with twogrooves 279. The grooves 279 interact with the translation pins 252 thatproject from the locking pin 236. In particular, the translation pins252 (as shown in FIG. 9) have a dome portion 283 that fit into thegrooves 279 and a press-fit portion 284 that attach with the pin head264 of the locking pin 236. The inside of each groove 279 has anundulating surface as seen in FIG. 8D. One side of the groove 281 has asurface lower than the opposite side 282 by a distance ‘D’. As thelocking pin 236 is rotated, the undulating surface makes the locking pin236 translate.

With reference to FIGS. 10-13B, a mechanism for incrementally locking arotational position of the locking pin 236 and releasing the lock isshown in detail. The pawl release mechanism 241 is configured todisengage the pawls from the plurality of teeth 266 on the locking pin236. In particular embodiment, the pawl release 244 is of a semi-annularshape having one or more pawl engagement features 284, a conduit 283,and a release lever attachment point 285. The pawl engagement feature(s)284 may be an angled elliptical opening that receives a portion of thepawl 240. For example, as shown in FIG. 11, the one or more pawls 240have an engaging element 285 for engaging the plurality of teeth 266 anda pin 286 that fits within the pawl engagement feature 284. One or morepawl spring 242, as shown in FIG. 12, is configured about each of thepawls 240 such that the pawls 240 can engage each of the teeth 266 asthe locking pin 236 is rotated. To release the pawl(s) 240 from theteeth 266, a user pushes on a release button 246 connected to a releaselever 248 that is connected to the pawl release 244. Pushing the releasebutton 246 rotates the pawl release 244 causing each of the pawls torotate away from the teeth 266. The pawls rotate because the pin 286moves within the pawl engagement feature 284 (e.g., an angled ellipticalopening) angled away from the teeth 266. FIG. 13A depicts the pawl(s)240 in the engaged position, and FIG. 13B depicts the pawl(s) 240 in thedisengaged position due to the rotation of the pawl release 244.

There are several advantages of having multiple pawls 240, including theability to increase the locking resolution of rotation. In a particularinventive embodiment, the spacing of the plurality of teeth 266, thepositioning of the pawls 240 around the teeth 266, and the number ofpawls 240, is configured such that only one or two pawls 240 are engagedwith one or two teeth at any given rotational position. Therefore, theslightest rotation will cause one or two other pawls 240 to engage oneor two other teeth 266. This configuration provides several additionaladvantages. For one, when manufacturing the attachment region 302 of thetool 300, the geometry of each attachment region may vary slightly dueto manufacturing tolerance. The several locking positions and resolutionof locking accommodates for these slight variations for each tool 300used with the machine. Second, by having several locking positions, therisk of the tool 300 detaching from the coupler 200 is greatly reducedbecause there are several “stops” before the tool 300 can be fullydetached. In addition, with a coupler having only one pawl 240 or onelocking position (as opposed to the multiple paws 240 described herein),unintended external forces (e.g., a surgical drape surrounding thecoupler, vibrations or motions of the machine or robot, or a userbumping the coupler 200), may snag the lever 237 and inadvertentlyrelease the tool 300 from the coupler 200. Therefore, several lockingpositions also provide several degrees of connection security.

With reference to FIG. 14A, a bottom surface 286 of the body 234 (seeFIG. 6) is shown. The bottom surface 286 is adapted to receive andassemble the pawl release mechanism 241. In a particular embodiment, thebottom surface 286 is manufactured having a pawl release recession 287to receive the pawl release 244, a release lever recession 288 toreceive the release lever 248, a release button recession 289 to receivethe release button, and a pawl and spring recession 290 to receive andassemble the pawls 240 and pawl springs 242. FIG. 14B shows the pawls240 and springs 242 assembled with the body 202.

With reference to FIG. 15A-15B a cross-section of the assembled coupler200 is shown. FIG. 15A shows the coupler 200 in a disengaged positionwhere the locking pin 236 is fully housed within the body 202 and theconduits (228, 283) of the receiving member 206 and pawl release 244. Inthis position, the attachment region 302 of the tool 300 can slide ontothe support 230 where the tool 300 is now suspended thereon. To rigidlysecure the tool 300 to the coupler 200, the user rotates the lever 237causing the locking pin 236 to rotate and translate towards and againstthe locking pin interaction feature 304 of the attachment region 302(see FIGS. 5A-5D). The locking pin 236 applies a lateral force (thelateral force is aided by the eccentric cam 268 of the locking pin 236)against the interaction feature 304 which pulls the tool 300 into thesupport 230 to rigidly and securely lock the tool 300 to the coupler200. FIG. 15B shows the coupler 200 in the engaged position where thelocking pin 236 extends partially within the support 230 as depicted inthe circled region 292. To release the tool 300 from the coupler 200,the user presses the release button 246 to disengage the pawls androtates the lever 237 back to the disengaged position where the biasingspring 250 (see FIG. 6) aids in translating the pin 236 back into thebody 202. The user can then slide the tool 300 off the support 230 andassemble another tool 300 thereto if needed quickly and effectively.

Other Embodiments

While at least one exemplary embodiment has been presented in theforegoing detailed description, it should be appreciated that a vastnumber of variations exist. It should also be appreciated that theexemplary embodiment or exemplary embodiments are only examples, and arenot intended to limit the scope, applicability, or configuration of thedescribed embodiments in any way. Rather, the foregoing detaileddescription will provide those skilled in the art with a convenientroadmap for implementing the exemplary embodiment or exemplaryembodiments. It should be understood that various changes may be made inthe function and arrangement of elements without departing from thescope as set forth in the appended claims and the legal equivalentsthereof.

1. A coupling device, said coupling device comprising: a body having amounting member and a receiving member, said mounting member attached tosaid body with a first set of fastening elements, and said receivingmember is attached to an opposing side of said body with a second set offastening elements; said mounting member adapted to connect to a portionof a machine, and said receiving member is adapted to removably join andsuspend one or more different tools.
 2. The coupling device of claim 1wherein said portion of said machine further comprises a distal link ofa manipulator arm of a robot.
 3. The coupling device of claim 2 whereinsaid receiving member further comprises a conduit and a support wheresaid conduit provides a link for a locking pin to intercept a portion ofsaid tool, where said support mates with said tool.
 4. The couplingdevice of claim 3 wherein said support is a sliding joint that istapered where an opening of said sliding joint has a largercross-section than a stopper portion of said joint; said stopper portionprovides an abutment surface for a corresponding mating feature of saidtool to push against to rigidly secure said tool to said coupler.
 5. Thecoupling device of claim 4 wherein said corresponding mating feature isa wedged attachment that slides onto said receiving member.
 6. Thecoupling device of claim 5 wherein said wedged attachment furthercomprises an interaction counterbore bored in a top side of a portion ofsaid wedged attachment, where a wall in said counterbore interacts withsaid locking pin such that when said locking pin is engaged said lockingpin imposes a lateral force on said wall to rigidly secure the toolagainst said support of said coupler.
 7. The coupling device of claim 6wherein said body further comprises: a housing, a locking pin, a lever,a lid, one or more pawls, one or more pawl springs, a pawl release, arelease button, a release lever, a biasing spring, one or moretranslation pins, a set screw, and fastening elements; said housinghaving a housing counterbore to hold the locking pin therein and a slotextending laterally from said housing counterbore through a portion ofsaid housing, and where said lever fits within said slot and said leverhas an attachment end that inserts into a corresponding aperture in ashaft portion of the locking pin; and said lever is used to rotate saidlocking pin within the interaction counterbore to engage the tool. 8.The coupling device of claim 7 wherein said locking pin furthercomprises: a pin head at a proximal end of said shaft of said lockingpin, a plurality of teeth radially positioned on an outer surface of aportion of said shaft, and an eccentric cam at a distal end of saidshaft; said eccentric cam is offset from a center axis of said shaft andapplies a lateral force against said wall in said interactioncounterbore when said locking pin is engaged.
 9. The coupling device ofclaim 8 wherein said lid further comprises: a top portion and a bottomportion, where said bottom portion has a cylindrical shape with twogrooves that interact with said one or more translation pins thatproject from said locking pin, and where said one or more translationpins have a dome portion that fit into the grooves and a press-fitportion that attach with said pin head of said locking pin; and aninside portion of said grooves have an undulating surface, and when saidlocking pin is rotated, the undulating surface makes said locking pintranslate.
 10. The coupling device of claim 8 wherein said plurality ofteeth engage with said one or more pawls to incrementally lock therotational position of said locking pin as said locking pin is rotated.11. The coupling device of claim 10 further comprising a pawl releasemechanism configured to disengage said one or more pawls from saidplurality of teeth; said pawl release mechanism further comprises asemi-annular shape having one or more angled elliptical openings thateach receive a portion of said one or more pawls, and a release leverthat causes each of said one or more pawls to rotate away from saidplurality of teeth since said one or more angled elliptical openings areangled away from said plurality of teeth.
 12. The coupling device ofclaim 3 wherein said mounting member further comprises an annular baseand a cylindrical top with a hyperboloid neck therebetween, said top andsaid neck have diameters less than said annular base for insertinginside a locking mechanism associated with said machine.
 13. Thecoupling device of claim 12 wherein said cylindrical top furthercomprises one or more alignment slots formed around the edge of saidcylindrical top to mate with one or more corresponding projections onsaid locking mechanism of said machine; said alignment slots ensure thecoupler can repeatedly connect to said machine in a desired orientation.14. The coupling device of claim 13 wherein said neck is grasped by aset of retractable ball bearings of said machine locking mechanism torigidly fix said coupler to said machine.
 15. A process of using acoupling device comprising: attaching a tool to said coupling device,said coupling device comprising: a body having a mounting member and areceiving member, said mounting member attached to said body with afirst set of fastening elements, and said receiving member is attachedto an opposing side of said body with a second set of fasteningelements; said mounting member adapted to connect to a portion of amachine, and said receiving member is adapted to removably join andsuspend said tool.
 16. A system comprising: a robot with a manipulatorarm joined to a coupling device, said coupling device comprising: a bodyhaving a mounting member and a receiving member, said mounting memberattached to said body with a first set of fastening elements, and saidreceiving member is attached to an opposing side of said body with asecond set of fastening elements; said mounting member adapted toconnect to a portion of a machine, and said receiving member is adaptedto removably join and suspend one or more of a set of tools.